| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which can be controlled with high accuracy while eliminating the effect of bias drift of an angular velocity sensor and the effect of noise resulting from disturbance or the like. SOLUTION: The robot includes: a link rotatable with respect to a base; an actuator for driving the link; a torque transmission mechanism for transmitting the torque of the actuator to the link at a prescribed reduction ratio; an angle sensor for detecting a rotation angle of the actuator; the angular velocity sensor for detecting an angular velocity of the link with respect to the base; and an arithmetic unit for calculating the angle of the link by using low-frequency components equal to or smaller than a cut-off frequency among the products of the prescribed reduction ratio and rotation angles, high-frequency components equal to or greater than the cut-off frequency among the values of integrals of angular velocities, and a filter having a specific frequency characteristic in the high-frequency components. COPYRIGHT: (C)2011,JPO&INPIT |
